AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator_lwf::KinematicsModelLwf Class Reference

#include <KinematicsModelLwf.hpp>

Inheritance diagram for anymal_state_estimator_lwf::KinematicsModelLwf:
Inheritance graph

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW KinematicsModelLwf (double dt=0.0025)
 
 ~KinematicsModelLwf () override=default
 
Eigen::Vector3d forwardKinematicsBaseToFootInBaseFrame (const Eigen::Vector3d &legJoints, int limbId)
 
Eigen::Matrix3d getJacobianTranslationBaseToFootInBaseFrame (const Eigen::Vector3d &legJoints, int limbId)
 

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW anymal_state_estimator_lwf::KinematicsModelLwf::KinematicsModelLwf ( double  dt = 0.0025)
explicit
anymal_state_estimator_lwf::KinematicsModelLwf::~KinematicsModelLwf ( )
overridedefault

Member Function Documentation

Eigen::Vector3d anymal_state_estimator_lwf::KinematicsModelLwf::forwardKinematicsBaseToFootInBaseFrame ( const Eigen::Vector3d &  legJoints,
int  limbId 
)
Eigen::Matrix3d anymal_state_estimator_lwf::KinematicsModelLwf::getJacobianTranslationBaseToFootInBaseFrame ( const Eigen::Vector3d &  legJoints,
int  limbId 
)

The documentation for this class was generated from the following file: